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fix of quaternion.cc for older compiler compatibility

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This commit is contained in:
Jiri Pittner 2021-10-07 14:13:41 +02:00
parent 87d560beb2
commit 54bbdd0054
1 changed files with 8 additions and 8 deletions
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16
quaternion.cc
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@ -19,9 +19,9 @@
#include "quaternion.h"
#include "vecmat3.h"
using namespace LA_Quaternion;
using namespace LA_Vecmat3;
namespace LA_Quaternion {
//do not replicate this code in each object file, therefore not in .h
//and instantize the templates for the types needed
@ -357,7 +357,7 @@ axis[2]= q[3]*s;
template<typename T>
Quaternion<T> LA_Quaternion::exp(const Quaternion<T> &x)
Quaternion<T> exp(const Quaternion<T> &x)
{
Quaternion<T> r;
T vnorm = sqrt(x[1]*x[1]+x[2]*x[2]+x[3]*x[3]);
@ -374,7 +374,7 @@ return r;
//NOTE: log(exp(x)) need not be always = x ... log is not unique!
//NOTE2: log(x*y) != log(y*x) != log(x)+log(y)
template<typename T>
Quaternion<T> LA_Quaternion::log(const Quaternion<T> &x)
Quaternion<T> log(const Quaternion<T> &x)
{
Quaternion<T> r;
T vnorm = x[1]*x[1]+x[2]*x[2]+x[3]*x[3];
@ -391,7 +391,7 @@ return r;
template<typename T>
Quaternion<T> LA_Quaternion::pow(const Quaternion<T> &x, const T &y)
Quaternion<T> pow(const Quaternion<T> &x, const T &y)
{
Quaternion<T> r;
T vnorm = x[1]*x[1]+x[2]*x[2]+x[3]*x[3];
@ -411,9 +411,9 @@ return r;
//force instantization
#define INSTANTIZE(T) \
template class Quaternion<T>; \
template Quaternion<T> LA_Quaternion::pow(const Quaternion<T> &x, const T &y); \
template Quaternion<T> LA_Quaternion::log(const Quaternion<T> &x); \
template Quaternion<T> LA_Quaternion::exp(const Quaternion<T> &x); \
template Quaternion<T> pow(const Quaternion<T> &x, const T &y); \
template Quaternion<T> log(const Quaternion<T> &x); \
template Quaternion<T> exp(const Quaternion<T> &x); \
@ -422,4 +422,4 @@ INSTANTIZE(float)
INSTANTIZE(double)
#endif
} //namespace